#include <ros/ros.h>
#include <iostream>
#include "control/control.h"

int main(int argc, char ** argv)
{
    ros::init(argc, argv, "control");
    ros::NodeHandle nh;
    ros::NodeHandle private_nh("~");
    
    std::string map_file("");
    std::string vehicle_param_file("");
    std::string file_path("");

    private_nh.getParam("map_file", map_file);
    private_nh.getParam("param_file", vehicle_param_file);
    private_nh.getParam("path", file_path);

    // std::cout << "map file: " << map_file.c_str() << std::endl;
    // std::cout << "param file:" << vehicle_param_file.c_str() << std::endl;
    // std::cout << "path file:" << file_path.c_str() << std::endl;

    control::Control ctrl(nh, private_nh);
    ctrl.Start();

    ros::shutdown();
    return 0;
}